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MR2265882 90-01 (65Kxx 90C30)
Bonnans, J. Frédéric; Gilbert, J. Charles; Lemaréchal, Claude; Sagastizábal, Claudia A. Numerical optimization. Theoretical and practical aspects. Second edition. Universitext. Springer-Verlag, Berlin, 2006. xiv+490 pp. ISBN: 3-540-35445-X
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